diff --git a/Makefile b/Makefile
index d6bc85f2c27d107bc0867d3ae83efc0e946e81e4..9ad4aaff1656c48b13cd9f4a672b6d7fa2a3c567 100644
--- a/Makefile
+++ b/Makefile
@@ -11,7 +11,6 @@ SUBDIR+= libfreenect
SUBDIR+= lwr-genom
SUBDIR+= mhp-genom
SUBDIR+= mk
-SUBDIR+= morse
SUBDIR+= morse-pocolibs
SUBDIR+= poisson
SUBDIR+= robot-viewer
diff --git a/morse/DESCR b/morse/DESCR
deleted file mode 100644
index 744cd9c20363efa9473be89d1d206ed251d96d0e..0000000000000000000000000000000000000000
--- a/morse/DESCR
+++ /dev/null
@@ -1,28 +0,0 @@
-MORSE (Multi- OpenRobot Simulation Engine)
-
- * Versatile simulator for generic mobile robots simulation
- (single or multi robots),
-
- * Realistic and dynamic environments (interaction with other agents like
- humans or objects),
-
- * Based on well known and widely adopted open source projects (Blender for 3D
- rendering + UI, Bullet for physics simulation, dedicated robotic
- middlewares for communications + robot hardware support),
-
- * Seamless workflow: since the simulator rely on Blender for both modeling
- and the real time 3D engine, creating and modifying a simulated scene is
- straightforward.
-
- * Entirely scriptable in Python,
-
- * Adaptable to various level of simulation realism (for instance the
- simulation of exteroceptive sensors like cameras or a direct access to
- higher level representations of the world, like labeled artifacts),
-
- * Currently compatible with ROS, YARP and the LAAS OpenRobots robotics
- frameworks,
-
- * Easy to integrate to other environments via a simple socket interface,
-
- * Fully open source, BSD-compatible.
diff --git a/morse/Makefile b/morse/Makefile
deleted file mode 100644
index 42a445e93b2cffeecb87daf2a1534f6aab486703..0000000000000000000000000000000000000000
--- a/morse/Makefile
+++ /dev/null
@@ -1,29 +0,0 @@
-# robotpkg Makefile for: simulation/morse
-# Created: Séverin Lemaignan on Fri, 28 May 2010
-#
-
-PKGNAME= morse-${MORSE_VERSION}
-
-include ../../wip/morse/Makefile.common
-
-CMAKE_ARGS+= -DBUILD_CORE_SUPPORT=ON
-
-CMAKE_ARGS+= -DBUILD_POCOLIBS_SUPPORT=OFF
-CMAKE_ARGS+= -DBUILD_ROS_SUPPORT=OFF
-CMAKE_ARGS+= -DBUILD_YARP2_SUPPORT=OFF
-
-# doc option
-PKG_SUPPORTED_OPTIONS+= doc
-PKG_SUGGESTED_OPTIONS+= doc
-PKG_OPTION_DESCR.doc?= Install ${PKGBASE} documentation
-
-define PKG_OPTION_SET.doc
- CMAKE_ARGS+= -DBUILD_DOC_SUPPORT=ON
- include ../../mk/sysdep/py-sphinx.mk
-endef
-define PKG_OPTION_UNSET.doc
- CMAKE_ARGS+= -DBUILD_DOC_SUPPORT=OFF
-endef
-
-include ../../mk/sysdep/python2.mk
-include ../../mk/robotpkg.mk
diff --git a/morse/Makefile.common b/morse/Makefile.common
deleted file mode 100644
index ff88669a5230de5c9d26b3de93ed075e74135aab..0000000000000000000000000000000000000000
--- a/morse/Makefile.common
+++ /dev/null
@@ -1,31 +0,0 @@
-# robotpkg Makefile for: simulation/morse
-# Created: Séverin Lemaignan on Fri, 28 May 2010
-#
-
-MORSE_VERSION= 0.3alpha2
-DISTNAME= morse-$(subst alpha,a,${MORSE_VERSION})
-MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=morse/}
-MASTER_REPOSITORY= git git://trac.laas.fr/robots/morse
-
-CATEGORIES= simulation
-MAINTAINER= morse-dev@laas.fr
-HOMEPAGE= http://morse.openrobots.org
-COMMENT= 3D simulator for robotics
-LICENSE= modified-bsd
-
-DISTINFO_FILE= ${CURDIR}/../../wip/morse/distinfo
-PATCHDIR= ${CURDIR}/../../wip/morse/patches
-
-USE_LANGUAGES+= c c++ python
-PYTHON_REQUIRED+= >=3
-
-CMAKE_ARGS+= -DPYTHON3_EXECUTABLE=${PYTHON}
-CMAKE_ARGS+= -DPYTHON3_INCLUDE_PATH=${PYTHON_INCLUDE}
-CMAKE_ARGS+= -DPYTHON3_LIBRARY=${PYTHON_LIB}
-CMAKE_ARGS+= -DPKG_CONFIG_EXECUTABLE=${PKG_CONFIG}
-
-DEPEND_ABI.blender+= blender>=2.55
-include ../../graphics/blender/depend.mk
-
-include ../../pkgtools/pkg-config/depend.mk
-include ../../mk/sysdep/cmake.mk
diff --git a/morse/PLIST b/morse/PLIST
deleted file mode 100644
index db589b61da528d1797d41b78cb362e811ab0469d..0000000000000000000000000000000000000000
--- a/morse/PLIST
+++ /dev/null
@@ -1,341 +0,0 @@
-@comment Thu Mar 31 14:07:08 CEST 2011
-${PYTHON_SITELIB}/morse/__init__.py
-${PYTHON_SITELIB}/morse/actuators/__init__.py
-${PYTHON_SITELIB}/morse/actuators/destination.py
-${PYTHON_SITELIB}/morse/actuators/healer.py
-${PYTHON_SITELIB}/morse/actuators/keyboard.py
-${PYTHON_SITELIB}/morse/actuators/kuka.py
-${PYTHON_SITELIB}/morse/actuators/kuka_ik.py
-${PYTHON_SITELIB}/morse/actuators/orientation.py
-${PYTHON_SITELIB}/morse/actuators/pa_10.py
-${PYTHON_SITELIB}/morse/actuators/platine.py
-${PYTHON_SITELIB}/morse/actuators/v_omega.py
-${PYTHON_SITELIB}/morse/actuators/waypoint.py
-${PYTHON_SITELIB}/morse/actuators/xy_omega.py
-${PYTHON_SITELIB}/morse/blender/__init__.py
-${PYTHON_SITELIB}/morse/blender/billboard.py
-${PYTHON_SITELIB}/morse/blender/calling.py
-${PYTHON_SITELIB}/morse/blender/healer.py
-${PYTHON_SITELIB}/morse/blender/human_control.py
-${PYTHON_SITELIB}/morse/blender/main.py
-${PYTHON_SITELIB}/morse/blender/mouse_drag.py
-${PYTHON_SITELIB}/morse/blender/victim.py
-${PYTHON_SITELIB}/morse/blender/view_camera.py
-${PYTHON_SITELIB}/morse/core/__init__.py
-${PYTHON_SITELIB}/morse/core/actuator.py
-${PYTHON_SITELIB}/morse/core/exceptions.py
-${PYTHON_SITELIB}/morse/core/middleware.py
-${PYTHON_SITELIB}/morse/core/object.py
-${PYTHON_SITELIB}/morse/core/request_manager.py
-${PYTHON_SITELIB}/morse/core/robot.py
-${PYTHON_SITELIB}/morse/core/sensor.py
-${PYTHON_SITELIB}/morse/core/services.py
-${PYTHON_SITELIB}/morse/core/status.py
-${PYTHON_SITELIB}/morse/core/supervision_services.py
-${PYTHON_SITELIB}/morse/geolandloader/geoDTMLoader.py
-${PYTHON_SITELIB}/morse/geolandloader/geoLandPlugin.py
-${PYTHON_SITELIB}/morse/geolandloader/geoShapefileLoader.py
-${PYTHON_SITELIB}/morse/helpers/__init__.py
-${PYTHON_SITELIB}/morse/helpers/colors.py
-${PYTHON_SITELIB}/morse/helpers/math.py
-${PYTHON_SITELIB}/morse/helpers/motion.py
-${PYTHON_SITELIB}/morse/helpers/transformation.py
-${PYTHON_SITELIB}/morse/middleware/__init__.py
-${PYTHON_SITELIB}/morse/middleware/socket_mw.py
-${PYTHON_SITELIB}/morse/middleware/socket_request_manager.py
-${PYTHON_SITELIB}/morse/middleware/sockets/__init__.py
-${PYTHON_SITELIB}/morse/middleware/text_mw.py
-${PYTHON_SITELIB}/morse/modifiers/__init__.py
-${PYTHON_SITELIB}/morse/modifiers/gaussian.so
-${PYTHON_SITELIB}/morse/modifiers/gps_noise.py
-${PYTHON_SITELIB}/morse/modifiers/ned_mod.py
-${PYTHON_SITELIB}/morse/modifiers/utm_mod.py
-${PYTHON_SITELIB}/morse/robots/__init__.py
-${PYTHON_SITELIB}/morse/robots/atrv.py
-${PYTHON_SITELIB}/morse/robots/daurade.py
-${PYTHON_SITELIB}/morse/robots/human.py
-${PYTHON_SITELIB}/morse/robots/jido.py
-${PYTHON_SITELIB}/morse/robots/ressac.py
-${PYTHON_SITELIB}/morse/sensors/__init__.py
-${PYTHON_SITELIB}/morse/sensors/accelerometer.py
-${PYTHON_SITELIB}/morse/sensors/camera.py
-${PYTHON_SITELIB}/morse/sensors/gps.py
-${PYTHON_SITELIB}/morse/sensors/gyroscope.py
-${PYTHON_SITELIB}/morse/sensors/human_posture.py
-${PYTHON_SITELIB}/morse/sensors/kuka_posture.py
-${PYTHON_SITELIB}/morse/sensors/motion_sensor.py
-${PYTHON_SITELIB}/morse/sensors/proximity.py
-${PYTHON_SITELIB}/morse/sensors/ptu.py
-${PYTHON_SITELIB}/morse/sensors/semantic_camera.py
-${PYTHON_SITELIB}/morse/sensors/sick.py
-${PYTHON_SITELIB}/morse/sensors/thermometer.py
-${PYTHON_SITELIB}/morse/sensors/velodyne.py
-${PYTHON_SITELIB}/morse/sensors/video_camera.py
-bin/morse
-share/data/morse/components/controllers/destination_control/destination_2.0.blend
-share/data/morse/components/controllers/destination_control/destination_2.1.blend
-share/data/morse/components/controllers/destination_control/destination_module.py
-share/data/morse/components/controllers/destination_control/path_destination.py
-share/data/morse/components/controllers/destination_control/straight_destination.py
-share/data/morse/components/controllers/destination_control/teleport_destination.py
-share/data/morse/components/controllers/destination_control/waypoint_destination.py
-share/data/morse/components/controllers/morse_destination_control.blend
-share/data/morse/components/controllers/morse_healer_beam.blend
-share/data/morse/components/controllers/morse_manual_control.blend
-share/data/morse/components/controllers/morse_orientation_control.blend
-share/data/morse/components/controllers/morse_platine_control.blend
-share/data/morse/components/controllers/morse_vw_control.blend
-share/data/morse/components/controllers/morse_waypoint_control.blend
-share/data/morse/components/controllers/morse_xyw_control.blend
-share/data/morse/components/human/default_human.blend
-share/data/morse/components/middleware/pocolibs_empty.blend
-share/data/morse/components/middleware/ros_empty.blend
-share/data/morse/components/middleware/socket_empty.blend
-share/data/morse/components/middleware/text_empty.blend
-share/data/morse/components/middleware/yarp_empty.blend
-share/data/morse/components/modifiers/gps_noise_empty.blend
-share/data/morse/components/modifiers/ned_empty.blend
-share/data/morse/components/modifiers/utm_empty.blend
-share/data/morse/components/robots/PA10-Armature.blend
-share/data/morse/components/robots/PA10-Game-2.5.blend
-share/data/morse/components/robots/PA10.blend
-share/data/morse/components/robots/atrv.blend
-share/data/morse/components/robots/dala-action.blend
-share/data/morse/components/robots/dala-rosace.blend
-share/data/morse/components/robots/daurade.blend
-share/data/morse/components/robots/jido-armature.blend
-share/data/morse/components/robots/jido-kuka.blend
-share/data/morse/components/robots/jido.blend
-share/data/morse/components/robots/kuka_arm-rig.blend
-share/data/morse/components/robots/kuka_arm.blend
-share/data/morse/components/robots/pr2/pr2_25.blend
-share/data/morse/components/robots/ressac-action.blend
-share/data/morse/components/robots/ressac.blend
-share/data/morse/components/robots/sa_hand-8-semi_ok.blend
-share/data/morse/components/robots/submarine.blend
-share/data/morse/components/scenes/indoors-1/indoor_scene-2.0.blend
-share/data/morse/components/scenes/laas/grande_salle.blend
-share/data/morse/components/scenes/land-1/buildings_scene-2.0.blend
-share/data/morse/components/scenes/land-1/buildings_scene-3.0.blend
-share/data/morse/components/scenes/props/animated_water.blend
-share/data/morse/components/scenes/props/furnitures.blend
-share/data/morse/components/scenes/props/human.blend
-share/data/morse/components/scenes/props/sceneProps-2.0.blend
-share/data/morse/components/scenes/props/simplest_tree.blend
-share/data/morse/components/scenes/props/victim.blend
-share/data/morse/components/scenes/water-1/water_scene.blend
-share/data/morse/components/sensors/morse_GPS.blend
-share/data/morse/components/sensors/morse_accelerometer.blend
-share/data/morse/components/sensors/morse_camera.blend
-share/data/morse/components/sensors/morse_gyroscope.blend
-share/data/morse/components/sensors/morse_kuka_posture.blend
-share/data/morse/components/sensors/morse_proximity.blend
-share/data/morse/components/sensors/morse_ptu.blend
-share/data/morse/components/sensors/morse_sick.blend
-share/data/morse/components/sensors/morse_stereo_cameras.blend
-share/data/morse/components/sensors/morse_thermometer.blend
-share/data/morse/components/sensors/morse_velodyne.blend
-share/data/morse/morse_default.blend
-share/examples/morse/scenarii/ROS_tutorial1_navstack_5.blend
-share/examples/morse/scenarii/ROS_tutorial1_solved.blend
-share/examples/morse/scenarii/action-4-2.54.blend
-share/examples/morse/scenarii/grande_salle-2.5-kuka-poster.blend
-share/examples/morse/scenarii/indoors_1/hri_laas_1.blend
-share/examples/morse/scenarii/pr2_test.blend
-share/examples/morse/scenarii/rosace-1.blend
-share/examples/morse/tutorials/tutorial-1-solved.blend
-share/examples/morse/tutorials/tutorial-1-solved_ROS.blend
-share/examples/morse/tutorials/tutorial-1.blend
-${PLIST.doc}share/doc/morse/html/.buildinfo
-${PLIST.doc}share/doc/morse/html/.doctrees/dev/adding_component.doctree
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-${PLIST.doc}share/doc/morse/html/_images/place_cube.jpg
-${PLIST.doc}share/doc/morse/html/_images/rosace.png
-${PLIST.doc}share/doc/morse/html/_images/simu_render_indoors.jpg
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-${PLIST.doc}share/doc/morse/html/_sources/user/middlewares/yarp.txt
-${PLIST.doc}share/doc/morse/html/_sources/user/modifier_introduction.txt
-${PLIST.doc}share/doc/morse/html/_sources/user/modifiers/ned.txt
-${PLIST.doc}share/doc/morse/html/_sources/user/modifiers/utm.txt
-${PLIST.doc}share/doc/morse/html/_sources/user/others/human.txt
-${PLIST.doc}share/doc/morse/html/_sources/user/robots/atrv.txt
-${PLIST.doc}share/doc/morse/html/_sources/user/robots/jido.txt
-${PLIST.doc}share/doc/morse/html/_sources/user/robots/ressac.txt
-${PLIST.doc}share/doc/morse/html/_sources/user/sensors/accelerometer.txt
-${PLIST.doc}share/doc/morse/html/_sources/user/sensors/camera.txt
-${PLIST.doc}share/doc/morse/html/_sources/user/sensors/gps.txt
-${PLIST.doc}share/doc/morse/html/_sources/user/sensors/gyroscope.txt
-${PLIST.doc}share/doc/morse/html/_sources/user/sensors/human_posture.txt
-${PLIST.doc}share/doc/morse/html/_sources/user/sensors/pantilt.txt
-${PLIST.doc}share/doc/morse/html/_sources/user/sensors/proximity.txt
-${PLIST.doc}share/doc/morse/html/_sources/user/sensors/semantic_camera.txt
-${PLIST.doc}share/doc/morse/html/_sources/user/sensors/sick.txt
-${PLIST.doc}share/doc/morse/html/_sources/user/sensors/stereo_camera.txt
-${PLIST.doc}share/doc/morse/html/_sources/user/sensors/thermometer.txt
-${PLIST.doc}share/doc/morse/html/_sources/user/supported_middlewares.txt
-${PLIST.doc}share/doc/morse/html/_sources/user/tips/bounding_boxes.txt
-${PLIST.doc}share/doc/morse/html/_sources/user/tutorial.txt
-${PLIST.doc}share/doc/morse/html/_sources/user/user_workflow.txt
-${PLIST.doc}share/doc/morse/html/_static/Aller.ttf
-${PLIST.doc}share/doc/morse/html/_static/basic.css
-${PLIST.doc}share/doc/morse/html/_static/default.css
-${PLIST.doc}share/doc/morse/html/_static/doctools.js
-${PLIST.doc}share/doc/morse/html/_static/file.png
-${PLIST.doc}share/doc/morse/html/_static/jquery.js
-${PLIST.doc}share/doc/morse/html/_static/minus.png
-${PLIST.doc}share/doc/morse/html/_static/morse-logo.png
-${PLIST.doc}share/doc/morse/html/_static/plus.png
-${PLIST.doc}share/doc/morse/html/_static/pygments.css
-${PLIST.doc}share/doc/morse/html/_static/searchtools.js
-${PLIST.doc}share/doc/morse/html/_static/sphinx-laas.css
-${PLIST.doc}share/doc/morse/html/_static/www.png
-${PLIST.doc}share/doc/morse/html/dev/adding_component.html
-${PLIST.doc}share/doc/morse/html/dev/adding_modifier.html
-${PLIST.doc}share/doc/morse/html/dev/dev_overview.html
-${PLIST.doc}share/doc/morse/html/dev/dev_workflow.html
-${PLIST.doc}share/doc/morse/html/dev/new_middleware.html
-${PLIST.doc}share/doc/morse/html/dev/services.html
-${PLIST.doc}share/doc/morse/html/dev/summary.html
-${PLIST.doc}share/doc/morse/html/genindex.html
-${PLIST.doc}share/doc/morse/html/morse.html
-${PLIST.doc}share/doc/morse/html/objects.inv
-${PLIST.doc}share/doc/morse/html/search.html
-${PLIST.doc}share/doc/morse/html/searchindex.js
-${PLIST.doc}share/doc/morse/html/user/actuators/destination.html
-${PLIST.doc}share/doc/morse/html/user/actuators/keyboard.html
-${PLIST.doc}share/doc/morse/html/user/actuators/kuka.html
-${PLIST.doc}share/doc/morse/html/user/actuators/orientation.html
-${PLIST.doc}share/doc/morse/html/user/actuators/pa_10.html
-${PLIST.doc}share/doc/morse/html/user/actuators/platine.html
-${PLIST.doc}share/doc/morse/html/user/actuators/v_omega.html
-${PLIST.doc}share/doc/morse/html/user/actuators/vx_vy_omega.html
-${PLIST.doc}share/doc/morse/html/user/actuators/waypoint.html
-${PLIST.doc}share/doc/morse/html/user/advanced_tutorials/equip_robot.html
-${PLIST.doc}share/doc/morse/html/user/advanced_tutorials/hri_tutorial.html
-${PLIST.doc}share/doc/morse/html/user/advanced_tutorials/yarp_tutorial.html
-${PLIST.doc}share/doc/morse/html/user/basic_morse.html
-${PLIST.doc}share/doc/morse/html/user/component_library.html
-${PLIST.doc}share/doc/morse/html/user/hooks.html
-${PLIST.doc}share/doc/morse/html/user/installation.html
-${PLIST.doc}share/doc/morse/html/user/middlewares/pocolibs.html
-${PLIST.doc}share/doc/morse/html/user/middlewares/ros.html
-${PLIST.doc}share/doc/morse/html/user/middlewares/ros/ros_installation.html
-${PLIST.doc}share/doc/morse/html/user/middlewares/socket.html
-${PLIST.doc}share/doc/morse/html/user/middlewares/text.html
-${PLIST.doc}share/doc/morse/html/user/middlewares/yarp.html
-${PLIST.doc}share/doc/morse/html/user/modifier_introduction.html
-${PLIST.doc}share/doc/morse/html/user/modifiers/ned.html
-${PLIST.doc}share/doc/morse/html/user/modifiers/utm.html
-${PLIST.doc}share/doc/morse/html/user/others/human.html
-${PLIST.doc}share/doc/morse/html/user/robots/atrv.html
-${PLIST.doc}share/doc/morse/html/user/robots/jido.html
-${PLIST.doc}share/doc/morse/html/user/robots/ressac.html
-${PLIST.doc}share/doc/morse/html/user/sensors/accelerometer.html
-${PLIST.doc}share/doc/morse/html/user/sensors/camera.html
-${PLIST.doc}share/doc/morse/html/user/sensors/gps.html
-${PLIST.doc}share/doc/morse/html/user/sensors/gyroscope.html
-${PLIST.doc}share/doc/morse/html/user/sensors/human_posture.html
-${PLIST.doc}share/doc/morse/html/user/sensors/pantilt.html
-${PLIST.doc}share/doc/morse/html/user/sensors/proximity.html
-${PLIST.doc}share/doc/morse/html/user/sensors/semantic_camera.html
-${PLIST.doc}share/doc/morse/html/user/sensors/sick.html
-${PLIST.doc}share/doc/morse/html/user/sensors/stereo_camera.html
-${PLIST.doc}share/doc/morse/html/user/sensors/thermometer.html
-${PLIST.doc}share/doc/morse/html/user/supported_middlewares.html
-${PLIST.doc}share/doc/morse/html/user/tips/bounding_boxes.html
-${PLIST.doc}share/doc/morse/html/user/tutorial.html
-${PLIST.doc}share/doc/morse/html/user/user_workflow.html
-${PLIST.doc}share/examples/morse/scenarii/ROS_tutorial1_navstack_4.blend
diff --git a/morse/depend.mk b/morse/depend.mk
deleted file mode 100644
index dd6065e901d4011cbab0e2271c72b22862b13d69..0000000000000000000000000000000000000000
--- a/morse/depend.mk
+++ /dev/null
@@ -1,27 +0,0 @@
-# robotpkg depend.mk for: simulation/morse
-# Created: Séverin Lemaignan on Fri, 28 May 2010
-#
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH}+
-MORSE_DEPEND_MK:= ${MORSE_DEPEND_MK}+
-
-ifeq (+,$(DEPEND_DEPTH))
-DEPEND_PKG+= morse
-endif
-
-ifeq (+,$(MORSE_DEPEND_MK)) # ----------------------------------------------
-
-PREFER.morse?= robotpkg
-
-SYSTEM_SEARCH.morse=\
- 'bin/morse:1s/[^0-9.]//gp:% --version' \
- share/data/morse/morse_default.blend
-
-DEPEND_USE+= morse
-
-DEPEND_ABI.morse?= morse>=0.2
-DEPEND_DIR.morse?= ../../wip/morse
-
-endif # MORSE_DEPEND_MK ----------------------------------------------------
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/morse/distinfo b/morse/distinfo
deleted file mode 100644
index d5d5211d1fb25bfcfbec3405211e42fdd8f29a55..0000000000000000000000000000000000000000
--- a/morse/distinfo
+++ /dev/null
@@ -1,3 +0,0 @@
-SHA1 (morse-0.3a2.tar.gz) = 94a19094b238a3e5b708fa462b9844bc1ca8975d
-RMD160 (morse-0.3a2.tar.gz) = 2005f4d9dcd5c87dc9e7e592c2e15101e92f1f27
-Size (morse-0.3a2.tar.gz) = 57312603 bytes